Worst-case performance of rendezvous networks in the presence of adversarial nodes

Hyongju Park, Seth Hutchinson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we consider the performance of distributed control algorithms for networked robotic systems when one or more robots fail to execute the optimal policy. In particular, we investigate the performance of the circumcenter algorithm with connectivity maintenance [1]-[3] when one or more adversarial agents act maliciously to maximally disrupt convergence of the remaining, cooperative agents. To this end, we formulate a performance objective for each adversary node in terms of the circumradii of its cooperative neighbors in a communication graph which does not require omniscience of adversaries as is often assumed in the literature (e.g., [4], [5]). We provide an optimization algorithm based on finite-horizon dynamic programming, and obtain solutions through numerical simulation. Our results show that in general adversarial nodes are able not only to impede convergence toward consensus, but can also affect global changes in the topology of the communication graph for the cooperative agents.

Original languageEnglish (US)
Title of host publicationIROS 2013
Subtitle of host publicationNew Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages5579-5585
Number of pages7
DOIs
StatePublished - Dec 1 2013
Event2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan
Duration: Nov 3 2013Nov 8 2013

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
CountryJapan
CityTokyo
Period11/3/1311/8/13

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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